#include "LoopClosing.h"
◆ ConsistentGroup
◆ KeyFrameAndPose
◆ LoopClosing()
◆ CheckFinish()
bool ORB_SLAM2::LoopClosing::CheckFinish |
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◆ CheckNewKeyFrames()
bool ORB_SLAM2::LoopClosing::CheckNewKeyFrames |
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◆ ComputeSim3()
bool ORB_SLAM2::LoopClosing::ComputeSim3 |
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◆ CorrectLoop()
void ORB_SLAM2::LoopClosing::CorrectLoop |
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◆ DetectLoop()
bool ORB_SLAM2::LoopClosing::DetectLoop |
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◆ InsertKeyFrame()
void ORB_SLAM2::LoopClosing::InsertKeyFrame |
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KeyFrame * |
pKF | ) |
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◆ isFinished()
bool ORB_SLAM2::LoopClosing::isFinished |
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◆ isFinishedGBA()
bool ORB_SLAM2::LoopClosing::isFinishedGBA |
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◆ isRunningGBA()
bool ORB_SLAM2::LoopClosing::isRunningGBA |
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◆ RequestFinish()
void ORB_SLAM2::LoopClosing::RequestFinish |
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◆ RequestReset()
void ORB_SLAM2::LoopClosing::RequestReset |
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◆ ResetIfRequested()
void ORB_SLAM2::LoopClosing::ResetIfRequested |
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◆ Run()
void ORB_SLAM2::LoopClosing::Run |
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◆ RunGlobalBundleAdjustment()
void ORB_SLAM2::LoopClosing::RunGlobalBundleAdjustment |
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unsigned long |
nLoopKF | ) |
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◆ SearchAndFuse()
void ORB_SLAM2::LoopClosing::SearchAndFuse |
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const KeyFrameAndPose & |
CorrectedPosesMap | ) |
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◆ SetFinish()
void ORB_SLAM2::LoopClosing::SetFinish |
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◆ SetLocalMapper()
void ORB_SLAM2::LoopClosing::SetLocalMapper |
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LocalMapping * |
pLocalMapper | ) |
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◆ SetTracker()
void ORB_SLAM2::LoopClosing::SetTracker |
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Tracking * |
pTracker | ) |
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◆ mbFinished
bool ORB_SLAM2::LoopClosing::mbFinished |
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◆ mbFinishedGBA
bool ORB_SLAM2::LoopClosing::mbFinishedGBA |
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◆ mbFinishRequested
bool ORB_SLAM2::LoopClosing::mbFinishRequested |
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◆ mbFixScale
bool ORB_SLAM2::LoopClosing::mbFixScale |
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◆ mbResetRequested
bool ORB_SLAM2::LoopClosing::mbResetRequested |
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◆ mbRunningGBA
bool ORB_SLAM2::LoopClosing::mbRunningGBA |
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◆ mbStopGBA
bool ORB_SLAM2::LoopClosing::mbStopGBA |
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◆ mg2oScw
g2o::Sim3 ORB_SLAM2::LoopClosing::mg2oScw |
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◆ mLastLoopKFid
long unsigned int ORB_SLAM2::LoopClosing::mLastLoopKFid |
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◆ mlpLoopKeyFrameQueue
std::list<KeyFrame*> ORB_SLAM2::LoopClosing::mlpLoopKeyFrameQueue |
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◆ mMutexFinish
std::mutex ORB_SLAM2::LoopClosing::mMutexFinish |
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◆ mMutexGBA
std::mutex ORB_SLAM2::LoopClosing::mMutexGBA |
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◆ mMutexLoopQueue
std::mutex ORB_SLAM2::LoopClosing::mMutexLoopQueue |
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◆ mMutexReset
std::mutex ORB_SLAM2::LoopClosing::mMutexReset |
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◆ mnCovisibilityConsistencyTh
float ORB_SLAM2::LoopClosing::mnCovisibilityConsistencyTh |
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◆ mnFullBAIdx
bool ORB_SLAM2::LoopClosing::mnFullBAIdx |
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◆ mpCurrentKF
KeyFrame* ORB_SLAM2::LoopClosing::mpCurrentKF |
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◆ mpKeyFrameDB
◆ mpLocalMapper
◆ mpMap
Map* ORB_SLAM2::LoopClosing::mpMap |
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◆ mpMatchedKF
KeyFrame* ORB_SLAM2::LoopClosing::mpMatchedKF |
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◆ mpORBVocabulary
◆ mpThreadGBA
std::thread* ORB_SLAM2::LoopClosing::mpThreadGBA |
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◆ mpTracker
Tracking* ORB_SLAM2::LoopClosing::mpTracker |
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◆ mScw
cv::Mat ORB_SLAM2::LoopClosing::mScw |
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◆ mvConsistentGroups
◆ mvpCurrentConnectedKFs
std::vector<KeyFrame*> ORB_SLAM2::LoopClosing::mvpCurrentConnectedKFs |
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◆ mvpCurrentMatchedPoints
std::vector<MapPoint*> ORB_SLAM2::LoopClosing::mvpCurrentMatchedPoints |
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◆ mvpEnoughConsistentCandidates
std::vector<KeyFrame*> ORB_SLAM2::LoopClosing::mvpEnoughConsistentCandidates |
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◆ mvpLoopMapPoints
std::vector<MapPoint*> ORB_SLAM2::LoopClosing::mvpLoopMapPoints |
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The documentation for this class was generated from the following file: